/SLAM-Hive/slam_hive_results/mapping_results/2995/2203_vins-fusion-stereo+MH_02_easy+Image_comb_test-13.yamlERROR: Unable to communicate with master!
[0m[ INFO] [1720498244.344398329]: init begins[0m
[31m[ERROR] [1720498244.344843167]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[31m[ERROR] [1720498244.345406826]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/36741176-3da9-11ef-a65f-0242ac110005/roslaunch-6fb39ad47da6-119.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
]2;roscore
[1mstarted roslaunch server http://6fb39ad47da6:44563/[0m
ros_comm version 1.12.17


SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.17

NODES

auto-starting new master
[1mprocess[master]: started with pid [156][0m
[1mROS_MASTER_URI=http://6fb39ad47da6:11311/[0m
]2;roscore http://6fb39ad47da6:11311/
[0m[ INFO] [1720498245.500445451]: Connected to master at [localhost:11311][0m
[1msetting /run_id to 36741176-3da9-11ef-a65f-0242ac110005[0m
[0m[ INFO] [1720498245.503592681]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720498245.511262853]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720498245.511493135]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720498245.511519177]: ROW: 384 COL: 601 [0m
no imu, fix extrinsic param; no time offset calibration
 exitrinsic cam 0
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661
-0.0216401  -0.064677 0.00981073
 exitrinsic cam 1
 0.0125553  -0.999755  0.0182238
  0.999599  0.0130119  0.0251588
-0.0253898  0.0179006   0.999517
-0.0198436  0.0453689 0.00786212
set g   0   0 9.8
[0m[ INFO] [1720498245.511802838]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720498245.512052697]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720498245.512247424]: waiting for image and imu...[0m
config_file: /slamhive/mappingtask.yaml
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
loop start load vocabulary
BRIEF_PATTERN_FILE/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_pattern.yml
cam calib path: /slamhive/cam0_pinhole.yaml
VO input, perfrom 6 DoF pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [229][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_02_easy.bag  --clock 
[0m[ INFO] [1720498254.495522269]: Opening /slamhive/dataset/MH_02_easy.bag[0m

Waiting 0.2 seconds after advertising topics... done.

Hit space to toggle paused, or 's' to step.

 [DELAYED]  Bag Time: 1403636856.854208   Duration: 0.000000 / 153.782490   Delay: 316861397.86 
[0m[ INFO] [1720498260.934619986]: Initialization finish![0m
time: 1403636862.851666, t: 0.400708 0.082353 -0.029868 q: 0.997984 -0.048767 -0.029952 0.027449 
time: 1403636863.251667, t: 0.418426 0.114987 0.002963 q: 0.998167 -0.059612 0.003862 0.009718 
time: 1403636863.651666, t: 0.091787 0.033006 -0.129640 q: 0.994244 -0.052273 0.076686 0.053525 
time: 1403636864.051666, t: -1.115824 0.090256 -0.491263 q: 0.951307 -0.011570 0.305679 0.037969 
time: 1403636864.451667, t: 0.011591 -0.004396 -0.354016 q: 0.949760 -0.046608 0.308217 0.028029 
time: 1403636864.851666, t: 0.453246 -0.245240 0.180522 q: 0.934244 -0.036536 0.354394 0.016071 
time: 1403636865.251667, t: 0.053792 -0.045183 0.145044 q: 0.948984 -0.041930 0.304266 0.071376 
time: 1403636865.651666, t: -0.064672 0.010015 0.063781 q: 0.958836 -0.052195 0.270770 0.067767 
time: 1403636866.051666, t: 0.010592 0.031945 -0.204395 q: 0.936831 -0.051475 0.338287 0.072526 
time: 1403636866.451667, t: 0.056364 0.018188 -0.214306 q: 0.931354 -0.072082 0.351598 0.061342 
time: 1403636866.851666, t: -0.019433 0.031865 -0.019390 q: 0.946818 -0.064881 0.309857 0.057577 
time: 1403636867.251667, t: -0.118201 0.024485 -0.028592 q: 0.960570 -0.035705 0.268423 0.063091 
time: 1403636867.651666, t: -0.139740 0.016183 -0.057093 q: 0.979446 -0.033120 0.190276 0.058167 
time: 1403636868.051666, t: -0.161769 0.008174 -0.058872 q: 0.993145 -0.033752 0.077190 0.081034 
time: 1403636868.451667, t: -0.174390 -0.003810 -0.075333 q: 0.991114 -0.029065 0.097066 0.086180 
time: 1403636868.851666, t: -0.187931 -0.030802 -0.098496 q: 0.990668 -0.039770 0.099441 0.084301 
time: 1403636869.251667, t: -0.188547 -0.045869 -0.100204 q: 0.990145 -0.029896 0.112778 0.077461 
time: 1403636869.651666, t: -0.187164 -0.028015 -0.095310 q: 0.990403 -0.029220 0.111510 0.076252 
time: 1403636870.051666, t: -0.175476 0.115505 -0.090033 q: 0.987513 -0.047352 0.115843 0.095691 
time: 1403636870.451667, t: -0.169586 0.302877 -0.076046 q: 0.984110 -0.080748 0.120651 0.102232 
time: 1403636870.851666, t: -0.165448 0.411193 -0.067717 q: 0.981615 -0.098268 0.117013 0.114380 
time: 1403636871.251667, t: -0.186668 0.424230 -0.061340 q: 0.979962 -0.087428 0.117128 0.135324 
time: 1403636871.651666, t: -0.171370 0.301708 -0.061754 q: 0.982158 -0.080274 0.116984 0.123440 
time: 1403636872.051666, t: -0.235116 -0.054656 -0.108744 q: 0.982107 -0.081877 0.135001 0.102645 
time: 1403636872.451667, t: -0.309214 0.047022 -0.144817 q: 0.982612 0.137261 0.111862 0.055858 
time: 1403636872.851666, t: -0.298745 0.052802 -0.148360 q: 0.982962 0.135036 0.114063 0.050405 
time: 1403636873.251667, t: -0.300957 -0.000512 -0.066744 q: 0.981037 -0.046150 0.125499 0.140311 
feature tracking not enough, please slowly move you device! 
time: 1403636874.051666, t: -0.386156 0.139585 -0.181601 q: 0.983222 -0.042464 0.113473 0.136361 
time: 1403636874.451667, t: -0.509851 0.118689 -0.212089 q: 0.974297 0.055027 0.185602 0.115193 
feature tracking not enough, please slowly move you device! 
time: 1403636875.251667, t: -0.355122 0.109539 0.107938 q: 0.920513 0.291744 0.259213 0.018693 
time: 1403636875.651666, t: -0.420544 0.115067 0.072106 q: 0.930672 0.296134 0.194645 0.090929 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636876.451667, t: -0.872560 0.176401 -0.638065 q: 0.930564 0.307526 0.162284 0.114642 
unstable tracking...
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636877.251667, t: -0.872560 0.176401 -0.638065 q: 0.930564 0.307526 0.162284 0.114642 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636877.651666, t: -0.872560 0.176401 -0.638065 q: 0.930564 0.307526 0.162284 0.114642 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636878.051666, t: -0.872560 0.176401 -0.638065 q: 0.930564 0.307526 0.162284 0.114642 
unstable tracking...
time: 1403636878.451667, t: -0.872560 0.176401 -0.638065 q: 0.930564 0.307526 0.162284 0.114642 
feature tracking not enough, please slowly move you device! 
unstable tracking...
time: 1403636878.851666, t: -0.872560 0.176401 -0.638065 q: 0.930564 0.307526 0.162284 0.114642 
unstable tracking...
unstable tracking...
time: 1403636879.651666, t: -0.725036 0.082370 -0.627855 q: 0.896552 0.385884 0.209233 0.059252 
unstable tracking...
time: 1403636880.051666, t: -0.747834 0.030286 -0.798017 q: 0.875005 0.446422 0.187075 0.008791 
unstable tracking...
time: 1403636880.451667, t: -0.891503 -0.146193 -1.036019 q: 0.886577 0.417550 0.194963 0.040274 
unstable tracking...
time: 1403636880.851666, t: -0.525929 -0.060476 -0.709335 q: 0.901194 0.405436 0.140079 0.062037 
unstable tracking...
time: 1403636881.251667, t: 4.433390 -5.255163 2.991034 q: 0.882724 0.433681 0.167486 0.068318 
unstable tracking...
time: 1403636881.651666, t: 3.701569 -5.223269 1.703377 q: 0.915999 0.127898 0.355084 -0.136025 
unstable tracking...
time: 1403636882.051666, t: 5.836614 -7.447266 3.420810 q: 0.923704 0.142969 0.341971 -0.096886 
unstable tracking...
time: 1403636882.451667, t: 6.973761 -7.760084 3.169020 q: 0.889717 0.225777 0.382207 -0.106515 
time: 1403636882.851666, t: 6.930234 -7.760518 3.100185 q: 0.844350 0.277350 0.433590 -0.148828 
time: 1403636883.251667, t: 6.977546 -7.915010 3.190436 q: 0.803821 0.321447 0.457911 -0.202144 
time: 1403636883.651666, t: 6.929759 -7.826293 3.231812 q: 0.774307 0.356632 0.475957 -0.216164 
time: 1403636884.051666, t: 6.986433 -7.959726 3.240803 q: 0.765640 0.359409 0.482333 -0.227981 
unstable tracking...
time: 1403636884.451667, t: 7.002026 -7.970023 3.245180 q: 0.757705 0.361156 0.492738 -0.229474 
unstable tracking...
time: 1403636884.851666, t: 6.981638 -7.955161 3.230899 q: 0.757401 0.362610 0.493167 -0.227254 
time: 1403636885.251667, t: 6.984378 -7.958930 3.227187 q: 0.758061 0.361029 0.493208 -0.227480 
time: 1403636885.651666, t: 6.992285 -7.967127 3.226065 q: 0.757827 0.361807 0.493501 -0.226385 
time: 1403636886.051666, t: 6.998623 -7.966211 3.227440 q: 0.757784 0.361755 0.493447 -0.226730 
time: 1403636886.451667, t: 6.998626 -7.966250 3.227460 q: 0.757818 0.361798 0.493359 -0.226741 
time: 1403636886.851666, t: 6.998615 -7.966274 3.227473 q: 0.757808 0.361850 0.493354 -0.226702 
time: 1403636887.251667, t: 6.998610 -7.966270 3.227479 q: 0.757787 0.361894 0.493363 -0.226683 
time: 1403636887.651666, t: 6.998610 -7.966272 3.227478 q: 0.757805 0.361842 0.493367 -0.226694 
time: 1403636888.051666, t: 6.998607 -7.966291 3.227475 q: 0.757814 0.361815 0.493360 -0.226725 
time: 1403636888.451667, t: 6.998605 -7.966304 3.227502 q: 0.757819 0.361949 0.493284 -0.226657 
time: 1403636888.851666, t: 6.998589 -7.966350 3.227516 q: 0.757668 0.362146 0.493307 -0.226800 
time: 1403636889.251667, t: 6.998506 -7.966325 3.227557 q: 0.757783 0.362226 0.493296 -0.226309 
time: 1403636889.651666, t: 6.998456 -7.966293 3.227495 q: 0.757769 0.361924 0.493543 -0.226303 
time: 1403636890.051666, t: 6.998417 -7.966236 3.227440 q: 0.758003 0.361393 0.493562 -0.226326 
time: 1403636890.451667, t: 6.998399 -7.966219 3.227464 q: 0.757787 0.361584 0.493895 -0.226017 
time: 1403636890.851666, t: 6.998392 -7.966208 3.227454 q: 0.757640 0.361628 0.494105 -0.225980 
time: 1403636891.251667, t: 6.998457 -7.966274 3.227482 q: 0.757499 0.362075 0.493821 -0.226356 
time: 1403636891.651666, t: 6.998457 -7.966274 3.227482 q: 0.757499 0.362075 0.493821 -0.226356 
time: 1403636892.051666, t: 6.998457 -7.966274 3.227482 q: 0.757499 0.362075 0.493821 -0.226356 
time: 1403636892.851666, t: 6.998457 -7.966274 3.227482 q: 0.757499 0.362075 0.493821 -0.226356 
time: 1403636893.251667, t: 6.997544 -7.965584 3.227859 q: 0.757384 0.361866 0.494114 -0.226438 
time: 1403636893.651666, t: 6.997556 -7.965575 3.227852 q: 0.757363 0.361814 0.494157 -0.226499 
time: 1403636894.051666, t: 6.997556 -7.965575 3.227852 q: 0.757363 0.361814 0.494157 -0.226499 
time: 1403636894.451667, t: 6.997556 -7.965575 3.227852 q: 0.757363 0.361814 0.494157 -0.226499 
time: 1403636894.851666, t: 6.997556 -7.965575 3.227852 q: 0.757363 0.361814 0.494157 -0.226499 
time: 1403636895.251667, t: 6.997556 -7.965575 3.227852 q: 0.757363 0.361814 0.494157 -0.226499 
time: 1403636895.651666, t: 6.997556 -7.965575 3.227852 q: 0.757363 0.361814 0.494157 -0.226499 
time: 1403636896.051666, t: 6.997556 -7.965575 3.227852 q: 0.757363 0.361814 0.494157 -0.226499 
time: 1403636896.451667, t: 6.997556 -7.965575 3.227853 q: 0.757363 0.361814 0.494157 -0.226499 
time: 1403636896.851666, t: 6.997886 -7.965885 3.227899 q: 0.757928 0.361930 0.492895 -0.227172 
time: 1403636897.251667, t: 6.996830 -7.963138 3.229229 q: 0.755692 0.364419 0.492154 -0.232194 
time: 1403636897.651666, t: 6.989709 -7.915882 3.241241 q: 0.779327 0.334850 0.474104 -0.236114 
time: 1403636898.051666, t: 7.000233 -7.849674 3.191541 q: 0.786577 0.319295 0.464389 -0.252370 
time: 1403636898.451667, t: 7.036860 -7.835298 3.140966 q: 0.776361 0.331786 0.469835 -0.257754 
time: 1403636898.851666, t: 7.081376 -7.847206 3.063818 q: 0.773899 0.338220 0.465624 -0.264352 
time: 1403636899.251667, t: 7.153615 -7.899478 3.022908 q: 0.780518 0.335971 0.473857 -0.231029 
time: 1403636899.651666, t: 7.245815 -7.890229 3.007953 q: 0.810398 0.294740 0.478895 -0.164446 
time: 1403636900.051666, t: 7.352799 -7.871537 3.024539 q: 0.815034 0.269445 0.488822 -0.155472 
time: 1403636900.451667, t: 7.459999 -7.826069 2.992430 q: 0.814668 0.269436 0.486789 -0.163573 
time: 1403636900.851666, t: 7.570175 -7.783655 2.971125 q: 0.820925 0.278387 0.468044 -0.171805 
time: 1403636901.251667, t: 7.716840 -7.748528 3.014070 q: 0.815569 0.292674 0.472556 -0.160871 
time: 1403636901.651666, t: 7.921355 -7.675238 3.049378 q: 0.811888 0.279524 0.483638 -0.169701 
optimize pose graph 
time: 1403636902.051666, t: 8.114926 -7.598784 3.135994 q: 0.810129 0.279094 0.486360 -0.171031 
time: 1403636902.451667, t: 8.304808 -7.519579 3.221668 q: 0.811720 0.279874 0.484182 -0.168372 
time: 1403636902.851666, t: 8.471957 -7.450134 3.356468 q: 0.811518 0.267928 0.491247 -0.168313 
time: 1403636903.251667, t: 8.640044 -7.381015 3.374077 q: 0.810528 0.274935 0.487762 -0.171883 
time: 1403636903.651666, t: 8.795361 -7.303496 3.360210 q: 0.812038 0.274355 0.482776 -0.179584 
optimize pose graph 
time: 1403636904.051666, t: 8.949857 -7.250495 3.383338 q: 0.813239 0.288596 0.475921 -0.169866 
time: 1403636904.451667, t: 9.159756 -7.157470 3.337113 q: 0.811120 0.288486 0.480743 -0.166571 
time: 1403636904.851666, t: 9.377608 -7.059964 3.348945 q: 0.812339 0.274642 0.485321 -0.170710 
time: 1403636905.251667, t: 9.577423 -6.981258 3.395727 q: 0.813915 0.262519 0.489263 -0.171020 
time: 1403636905.651666, t: 9.769125 -6.924872 3.383867 q: 0.813915 0.261086 0.484811 -0.185297 
time: 1403636906.051666, t: 9.934879 -6.930026 3.431517 q: 0.814661 0.272225 0.474557 -0.192396 
time: 1403636906.451667, t: 10.107545 -6.980537 3.462717 q: 0.805831 0.289078 0.483897 -0.181421 
time: 1403636906.851666, t: 10.293897 -7.023389 3.480977 q: 0.808031 0.284478 0.481332 -0.185683 
time: 1403636907.251667, t: 10.484515 -7.076582 3.519002 q: 0.810379 0.280781 0.475068 -0.196872 
time: 1403636907.651666, t: 10.697019 -7.153507 3.540863 q: 0.813023 0.297526 0.463956 -0.187662 
time: 1403636908.051666, t: 10.973694 -7.215934 3.536812 q: 0.806194 0.293590 0.476545 -0.191734 
time: 1403636908.451667, t: 11.251884 -7.271184 3.576786 q: 0.799981 0.294656 0.482344 -0.201376 
time: 1403636908.851666, t: 11.527540 -7.340846 3.623989 q: 0.803859 0.299935 0.469895 -0.207480 
time: 1403636909.251667, t: 11.835903 -7.416124 3.609801 q: 0.806138 0.303952 0.464328 -0.205317 
time: 1403636909.651666, t: 12.164550 -7.508153 3.643088 q: 0.802930 0.303176 0.473045 -0.199036 
time: 1403636910.051666, t: 12.482725 -7.633067 3.777729 q: 0.788105 0.278079 0.507090 -0.210769 
time: 1403636910.451667, t: 12.732865 -7.746465 3.879139 q: 0.798975 0.293229 0.483280 -0.205172 
time: 1403636910.851666, t: 12.966745 -7.861049 3.938234 q: 0.798936 0.295486 0.481268 -0.206811 
time: 1403636911.251667, t: 13.192574 -7.974199 4.000261 q: 0.793866 0.302001 0.488007 -0.201053 
time: 1403636911.651666, t: 13.408694 -8.056588 3.989157 q: 0.797653 0.293556 0.484615 -0.206694 
time: 1403636912.051666, t: 13.606263 -8.134317 4.020876 q: 0.802666 0.304345 0.473904 -0.196255 
time: 1403636912.451667, t: 13.831304 -8.227154 4.054715 q: 0.801290 0.298943 0.479678 -0.196154 
time: 1403636912.851666, t: 14.049236 -8.273433 4.147852 q: 0.802082 0.310112 0.475963 -0.184268 
time: 1403636913.251667, t: 14.290812 -8.295390 4.270198 q: 0.793341 0.297697 0.494567 -0.193367 
time: 1403636913.651666, t: 14.522615 -8.286505 4.334322 q: 0.800367 0.298271 0.482800 -0.193265 
time: 1403636914.051666, t: 14.748920 -8.259128 4.407825 q: 0.799097 0.294657 0.486036 -0.195936 
time: 1403636914.451667, t: 14.971131 -8.209213 4.458409 q: 0.798842 0.292713 0.487372 -0.196570 
time: 1403636914.851666, t: 15.184504 -8.150692 4.471468 q: 0.797520 0.288850 0.491590 -0.197145 
time: 1403636915.251667, t: 15.359686 -8.109843 4.517850 q: 0.806328 0.283338 0.479389 -0.199352 
time: 1403636915.651666, t: 15.538041 -8.107629 4.594780 q: 0.803991 0.298327 0.479131 -0.187170 
time: 1403636916.051666, t: 15.758543 -8.081403 4.584872 q: 0.798761 0.295519 0.488149 -0.190682 
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time: 1403636981.251667, t: 13.314482 -5.822657 6.513550 q: 0.863023 0.007873 0.481596 0.152295 
time: 1403636981.651666, t: 13.509305 -5.787931 6.620397 q: 0.867172 -0.005728 0.474810 0.150117 
time: 1403636982.051666, t: 13.714599 -5.740826 6.653162 q: 0.882470 -0.010922 0.444594 0.153180 
time: 1403636982.451667, t: 14.012078 -5.705852 6.721245 q: 0.873479 0.003925 0.456672 0.168729 
time: 1403636982.851666, t: 14.363340 -5.616519 6.769201 q: 0.870882 0.005698 0.464083 0.161739 
time: 1403636983.251667, t: 14.704007 -5.515029 6.893212 q: 0.866004 -0.005603 0.476569 0.151287 
time: 1403636983.651666, t: 15.036324 -5.427854 7.046752 q: 0.869002 -0.011178 0.471295 0.150305 
time: 1403636984.051666, t: 15.387965 -5.365086 7.095457 q: 0.876785 -0.014216 0.455263 0.154214 
time: 1403636984.451667, t: 15.779096 -5.316732 7.152477 q: 0.868137 -0.020572 0.470146 0.157726 
time: 1403636984.851666, t: 16.171170 -5.314480 7.261285 q: 0.864367 -0.016729 0.476338 0.160290 
time: 1403636985.251667, t: 16.553393 -5.352932 7.285103 q: 0.865187 -0.019042 0.474340 0.161527 
time: 1403636985.651666, t: 16.927170 -5.428749 7.365345 q: 0.868168 -0.012856 0.477566 0.134349 
time: 1403636986.051666, t: 17.296930 -5.530451 7.380645 q: 0.845395 -0.011572 0.521010 0.117138 
time: 1403636986.451667, t: 17.538372 -5.734155 7.454299 q: 0.865928 0.002374 0.484947 0.122433 
time: 1403636986.851666, t: 17.761159 -5.954641 7.445388 q: 0.864072 0.023262 0.483272 0.138873 
time: 1403636987.251667, t: 17.966356 -6.137449 7.335646 q: 0.861780 0.012781 0.488173 0.137326 
time: 1403636987.651666, t: 18.126147 -6.334397 7.298217 q: 0.853628 0.008707 0.505174 0.126657 
optimize pose graph 
time: 1403636988.051666, t: 18.198954 -6.513921 7.229138 q: 0.856417 0.030007 0.498274 0.131809 
time: 1403636988.451667, t: 18.203568 -6.673922 7.147573 q: 0.848012 0.040247 0.508101 0.145220 
time: 1403636988.851666, t: 18.110460 -6.746034 7.045149 q: 0.840181 0.038431 0.521168 0.144922 
time: 1403636989.251667, t: 17.870607 -6.745142 6.982685 q: 0.837437 0.038303 0.524800 0.147706 
time: 1403636989.651666, t: 17.508543 -6.675781 6.870027 q: 0.861490 0.018447 0.490218 0.131079 
time: 1403636990.051666, t: 17.133479 -6.607813 6.763500 q: 0.856273 0.014991 0.499868 0.129241 
time: 1403636990.451667, t: 16.740680 -6.558473 6.619153 q: 0.861014 0.014155 0.493199 0.123326 
time: 1403636990.851666, t: 16.332274 -6.540454 6.510245 q: 0.866234 0.017304 0.485263 0.117723 
time: 1403636991.251667, t: 15.944446 -6.547416 6.471282 q: 0.866573 0.016293 0.484680 0.117779 
time: 1403636991.651666, t: 15.587834 -6.572132 6.386419 q: 0.866229 0.018266 0.482850 0.127160 
time: 1403636992.051666, t: 15.287060 -6.568066 6.236526 q: 0.864590 0.019896 0.481500 0.142288 
time: 1403636992.451667, t: 14.986968 -6.547915 6.150184 q: 0.864864 0.003685 0.482563 0.138309 
time: 1403636992.851666, t: 14.716726 -6.542417 6.049909 q: 0.869247 -0.004661 0.474074 0.140150 
time: 1403636993.251667, t: 14.483120 -6.577389 5.974850 q: 0.861708 0.007265 0.487528 0.140440 
time: 1403636993.651666, t: 14.270010 -6.618972 5.833541 q: 0.861717 0.057204 0.496747 0.086102 
time: 1403636994.051666, t: 14.034630 -6.651175 5.706274 q: 0.858576 0.075984 0.503977 0.055502 
time: 1403636994.451667, t: 13.757894 -6.715018 5.646292 q: 0.844593 0.074193 0.527543 0.053447 
time: 1403636994.851666, t: 13.398158 -6.790017 5.550841 q: 0.859117 0.094924 0.497842 0.071147 
time: 1403636995.251667, t: 13.022171 -6.825106 5.445857 q: 0.852169 0.084808 0.512395 0.063773 
time: 1403636996.051666, t: 12.214383 -6.832423 5.104696 q: 0.862677 0.095279 0.492060 0.067730 
time: 1403636996.451667, t: 11.836857 -6.800306 4.970470 q: 0.865058 0.089507 0.491074 0.050088 
time: 1403636996.851666, t: 11.503272 -6.772677 4.802601 q: 0.860418 0.134344 0.491505 -0.007435 
time: 1403636997.251667, t: 11.185492 -6.771777 4.773923 q: 0.849314 0.188385 0.488266 -0.069087 
time: 1403636997.651666, t: 10.932571 -6.786779 4.741748 q: 0.847666 0.194246 0.486720 -0.082669 
optimize pose graph 
time: 1403636998.051666, t: 10.775816 -6.775847 4.594705 q: 0.850892 0.185997 0.485079 -0.078020 
time: 1403636998.451667, t: 10.688006 -6.786603 4.445077 q: 0.851192 0.185622 0.485955 -0.069748 
time: 1403636998.851666, t: 10.646058 -6.803315 4.270008 q: 0.836562 0.177576 0.513746 -0.068529 
time: 1403636999.251667, t: 10.560001 -6.832489 4.137208 q: 0.838618 0.167450 0.512944 -0.074630 
time: 1403636999.651666, t: 10.428982 -6.912154 4.074397 q: 0.837581 0.177272 0.512809 -0.063720 
time: 1403637000.051666, t: 10.254572 -6.986439 4.044157 q: 0.837268 0.170418 0.515165 -0.067414 
time: 1403637000.451667, t: 10.049452 -7.068193 3.954916 q: 0.840301 0.172015 0.509715 -0.067048 
time: 1403637000.851666, t: 9.820015 -7.162963 3.867942 q: 0.838777 0.173782 0.512068 -0.063556 
time: 1403637001.251667, t: 9.562205 -7.259769 3.775272 q: 0.838995 0.174554 0.511945 -0.059424 
time: 1403637001.651666, t: 9.279041 -7.324069 3.644176 q: 0.844617 0.177007 0.502213 -0.055422 
time: 1403637002.051666, t: 8.988513 -7.380710 3.565262 q: 0.846442 0.173738 0.500251 -0.055681 
time: 1403637002.451667, t: 8.704142 -7.442840 3.529450 q: 0.847054 0.170360 0.500042 -0.058619 
time: 1403637002.851666, t: 8.444693 -7.505820 3.425080 q: 0.847115 0.166394 0.501229 -0.058977 
time: 1403637003.251667, t: 8.180672 -7.586064 3.375027 q: 0.847943 0.166309 0.500583 -0.052450 
time: 1403637003.651666, t: 7.928725 -7.672161 3.305476 q: 0.846073 0.168491 0.503700 -0.045361 
time: 1403637004.051666, t: 7.682507 -7.742732 3.222317 q: 0.851273 0.165748 0.494941 -0.053818 
time: 1403637004.451667, t: 7.453221 -7.823073 3.174716 q: 0.850173 0.171260 0.495038 -0.053042 
time: 1403637004.851666, t: 7.270269 -7.872770 3.037045 q: 0.848041 0.185292 0.495678 -0.028232 
time: 1403637005.251667, t: 7.098749 -7.904082 3.057284 q: 0.853757 0.164704 0.492362 -0.039389 
time: 1403637005.651666, t: 6.949350 -7.937055 3.105989 q: 0.853010 0.165748 0.492720 -0.046146 
time: 1403637006.051666, t: 6.841293 -7.949242 3.058209 q: 0.850944 0.168299 0.495307 -0.047340 
time: 1403637006.451667, t: 6.763657 -7.971114 3.034480 q: 0.861129 0.175115 0.475168 -0.044799 
time: 1403637006.851666, t: 6.736888 -7.990314 3.045165 q: 0.842087 0.200271 0.496014 -0.068925 
time: 1403637007.251667, t: 6.721807 -7.995749 3.086054 q: 0.821270 0.236085 0.501997 -0.133335 
time: 1403637007.651666, t: 6.687505 -7.997085 3.129420 q: 0.821328 0.239931 0.495449 -0.149609 
time: 1403637008.051666, t: 6.640460 -8.015383 3.153419 q: 0.819423 0.245398 0.500104 -0.134987 
time: 1403637008.451667, t: 6.607717 -8.038742 3.155018 q: 0.834386 0.230209 0.481256 -0.138552 
time: 1403637008.851666, t: 6.612014 -8.081518 3.143507 q: 0.831593 0.254487 0.481518 -0.108762 
time: 1403637009.251667, t: 6.644405 -8.084244 3.205516 q: 0.831806 0.225197 0.490911 -0.128028 
time: 1403637009.651666, t: 6.661053 -8.062512 3.244674 q: 0.791895 0.283747 0.527511 -0.118837 
time: 1403637010.051666, t: 6.658233 -8.056983 3.249185 q: 0.801201 0.279191 0.518149 -0.107942 
time: 1403637010.451667, t: 6.658330 -8.056451 3.248732 q: 0.801123 0.278984 0.518327 -0.108197 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720498409.236462083]: Shutdown request received.[0m
[33m[ WARN] [1720498409.236521270]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720498409.237360842]: Shutdown request received.[0m
[33m[ WARN] [1720498409.237388507]: Reason given for shutdown: [user request][0m
killed
